To provide a vehicular posture estimation device capable of accurately estimating a vehicular posture.SOLUTION: A vehicular posture estimation device includes: a Kalman filter calculation unit 109 for obtaining a state estimation value indicating a vehicular posture state using a Kalman filter upon receipt of positioning information detected by a positioning information detection unit 15, angular velocity information detected by an angular velocity information detection unit 16, and acceleration information detected by an acceleration information detection unit 17; a determination unit 107 for determining whether the vehicle is making straight travelling or turning on the basis of a steering angle detected by a steering angle detection unit 20; a present yaw angle calculation unit 106 for obtaining a present yaw angle in the vehicle by straight travelling calculation processing if the vehicle is determined to be making straight travelling, and obtaining a present yaw angle in the vehicle by turning calculation processing if the vehicle is determined to be making turning; and a yaw angle correction unit 110 for correcting a yaw angle in the state estimation value obtained by the Kalman filter calculation unit 109, by using the present yaw angle obtained by the present yaw angle calculation unit 106.SELECTED DRAWING: Figure 2

    【課題】車両の姿勢を精度良く推定する車両の姿勢推定装置を提供する。【解決手段】測位情報検出部15にて検出した測位情報、角速度情報検出部16にて検出した角速度情報、及び、加速度情報検出部17にて検出した加速度情報の入力を受けて、カルマンフィルタを用いて、車両の姿勢状態を示す状態推定値を求めるカルマンフィルタ演算部109と、操舵角検出部20にて検出した操舵角に基づいて車両が直進であるか旋回であるかを判定する判定部107と、直進と判定した場合に、直進用演算処理にて車両における現在ヨー角を求め、旋回と判定した場合に、旋回用演算処理にて車両における現在ヨー角を求める現在ヨー角演算部106と、カルマンフィルタ演算部109にて求めた状態推定値におけるヨー角について、現在ヨー角演算部106にて求めた現在ヨー角を用いて補正するヨー角補正部110とが備えられている。【選択図】図2


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    Title :

    VEHICULAR POSTURE ESTIMATION DEVICE


    Additional title:

    車両の姿勢推定装置


    Contributors:

    Publication date :

    2020-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge



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